CN107498285B - High-precision assembly device for assembly line - Google Patents
High-precision assembly device for assembly line Download PDFInfo
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- CN107498285B CN107498285B CN201710876203.0A CN201710876203A CN107498285B CN 107498285 B CN107498285 B CN 107498285B CN 201710876203 A CN201710876203 A CN 201710876203A CN 107498285 B CN107498285 B CN 107498285B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a high-precision assembly device for a production line, wherein a workbench is a component connecting device and a production line work area, and the production line, a jacking positioning mechanism, a clutch driving mechanism and a detection module are fixed in the production line work area on the upper plane of the workbench through screws; the assembly line consists of two rail-type running devices which are arranged in parallel in the X axial direction, and the assembly line is an X axial conveying device; the jacking positioning mechanism is arranged at the middle position between the two production lines, and the high-precision assembly device for the production lines can precisely assemble precise parts, has the advantages of high precision, small abrasion, stable operation, simple structure, convenience in maintenance and lower cost, and effectively solves the problems and the defects in the prior art.
Description
Technical Field
The invention relates to the technical field of mechanical assembly lines, in particular to a high-precision assembly device for an assembly line, and especially relates to a high-precision assembly device for assembly line operation.
Background
At present, due to the pipelining production operation of large, medium and small enterprises in China, the improvement of the enterprise productivity continuously increases the input force, and meanwhile, the requirements on the performance stability, the precision and the like of the pipelining required by the production and transportation of each production industry are higher, and the high-precision assembly device for the pipelining is more important. Most high-precision assembly devices on the assembly line consist of a tool adjusting platform, a driving mechanism and a positioning mechanism.
The existing pure mechanism type tool adjusting platforms in the market are mostly two-axis and three-axis, the requirement of the assembly line high-precision assembly of electronic product parts cannot be met, the electric six-axis type tool adjusting platform mostly depends on import, the exchange period is long, the price is high, and the working requirement of an automatic assembly line cannot be met. Under many working conditions, especially on a multi-station automatic production assembly line, a clutch driving device is needed for adjusting a tool platform, and the defects of complex structure, large external dimension, inconvenient maintenance and high price are mostly caused. The positioning mechanism on the assembly line has the defects of high impact, high abrasion and high vibration.
How to solve the problems mentioned above, and by improving the operation and action principle of the device, the problems and the shortcomings in the above are solved, so that the device can better exert the function and the practicability of the device, and the purpose of solving the problems is achieved.
Disclosure of Invention
The invention mainly solves the technical problems that: the high-precision assembly device for the assembly line has the advantages of being high in precision, small in abrasion, stable in operation, simple in structure, convenient to maintain and low in cost, and accordingly the problems and the defects in the background art are effectively solved.
In order to achieve the above purpose, the present invention provides the following technical solutions: a high accuracy assembly device for assembly line, its characterized in that: this a high accuracy assembly device for assembly line, including: the working table is a component connecting device and a production line working area, and the production line and jacking positioning mechanism, the clutch driving mechanism and the detection module are fixed in the production line working area on the upper plane of the working table through screws; the assembly line consists of two rail-type running devices which are arranged in parallel in the X axial direction, and the assembly line is an X axial conveying device; the jacking positioning mechanism is arranged at the middle position between the two production lines and is connected with a positioning bushing and a roller fixed on the six-degree-of-freedom tooling platform base in a matched manner through a positioning column and a wedge block; the jacking positioning mechanism is provided with a fixed plate, and the fixed plate is fixed with four linear bearings; the linear bearing is respectively connected with the four guide rods in a matching way, and the four guide rods are arranged in the annular inner sleeve of the linear bearing; the upper ends of the guide rods are fixed in the mounting holes of the guide rods of the positioning plate, and the lower ends of the four guide rods are fixed in the guide rod mounting holes arranged on the upper surface of the rigid frame; two positioning columns are fixed on the upper surface of the positioning plate in the diagonal direction, and four guide columns are fixed on the lower surface of the positioning plate; four springs are sleeved on the four guide posts respectively, and the jacking cylinder can move up and down along the guide posts; a screw nut is fixed under the jacking cylinder and is connected with the screw rod in a matched manner; the screw rod is supported by the screw rod supporting seat, and the lowest end of the screw rod is fixedly connected with the transmission shaft through a jackscrew; the servo motor A is fixed on the fixed plate through a motor bracket, and a synchronous belt wheel are arranged between a motor rotating shaft and a transmission shaft of the servo motor A; the fixing piece is fixed on the jacking cylinder, and the inductor is fixed on the fixing piece; the blocking cylinder is fixedly connected to the fixed plate through a cylinder support, and is a blocking coarse positioning device of the six-degree-of-freedom tooling platform; the cylinder body of the sliding table cylinder is fixed on the fixed plate, and a wedge block is fixed at the top end of the sliding table cylinder; the six-degree-of-freedom tooling platform is arranged on the assembly line, and the bearings A arranged at four corners on the base of the six-degree-of-freedom tooling platform are connected with the edges of the assembly line through rolling friction; 6. the free degree tooling platform comprises a X, Y, Z three-axis adjusting side and an alpha, beta and gamma three-axis adjusting side, and the X, Y, Z three-axis adjusting side of the six-free degree tooling platform is formed by combining an X-axis linear adjusting platform, a Y-axis linear adjusting platform and a Z-axis linear adjusting platform; the alpha, beta and gamma three-axis adjusting sides of the six-freedom-degree tooling platform are formed by combining an alpha-axis angle adjusting platform, a beta-axis angle adjusting platform and a gamma-axis angle adjusting platform, and the X, Y, Z three-axis adjusting sides of the six-freedom-degree tooling platform are respectively connected with six groups of driven shafts; the support A and the support B are arranged on one side of the base, and the support A and the support B are fixed supports of six driven shafts corresponding to six degrees of freedom of the six-degree-of-freedom tooling platform; the Y-axis linear adjusting platform and the beta-axis angle adjusting platform are respectively connected with two driven shafts through a bevel gear pair A and a bevel gear pair B, and the X-axis linear adjusting platform is respectively connected with the Z-axis linear adjusting platform, the alpha-axis rotary adjusting platform and the gamma-axis rotary adjusting platform through large flexible telescopic couplings; the driven shaft is arranged in the inner ring of the bearing B, and the bearing B is arranged in the inner hole of the support B through a bearing end cover and a screw; x, Y, Z triaxial adjusting side and support B are fixed on a multi-station high-precision quick positioning platform, and rollers are arranged at the bottom of the multi-station high-precision quick positioning platform; a positioning bushing is arranged in the bottom of the base, and handles are arranged at two ends of the upper part of the base; a conical driving module is fixedly connected to a fixed frame in the clutch driving mechanism, and the conical driving module is connected with a driven shaft arranged on the six-degree-of-freedom tooling platform through a driving shaft; the conical driving module is internally provided with a pneumatic sliding table, a servo motor C, a high-rigidity coupling and a driving shaft, and the pneumatic sliding table is a pneumatic telescopic device; the pneumatic sliding table is connected with the servo motor C through a screw, and the driving shaft is connected with the rotating shaft of the servo motor C through a high-rigidity coupling; the detection module comprises a triaxial manipulator formed by an X-axis linear module, a Y-axis linear module and a Z-axis linear module, and the triaxial manipulator is fixed on a manipulator bracket through screws; the detection module is connected with an external control system through an electric wire, and a Z-axis linear module in the detection module is fixedly connected with a CCD camera and a servo motor B through a mounting plate; a laser detection head is arranged below the servo motor B, and the servo motor B is connected with the laser detection head through a rotating shaft. Preferably, the six-degree-of-freedom tooling platform is a X, Y, Z, alpha, beta and gamma direction self-freedom adjusting device, and the six-degree-of-freedom tooling platform is provided with a direction adjusting self-locking function.
Compared with the prior art, the invention has the following beneficial effects:
1. the six-degree-of-freedom tooling platform can be used for adjusting X, Y, Z, alpha, beta and gamma in six directions, namely has six degrees of freedom in space and has a self-locking function, and can be applied to assembly pairing of precise parts, dispensing curing, product testing and the like. The six-degree-of-freedom tooling platform has short exchange period, can adapt to the working requirement of high-precision assembly of an automatic assembly line, has relatively low price, is provided with four bearings A at four corners, is contacted with two side edges of the assembly line, replaces sliding friction with rolling friction, can prevent position deviation during conveying on the assembly line, and can reduce abrasion in the conveying process.
2. The conical clutch driving mechanism is arranged on the multi-station automatic conveying line, so that one driving source can be matched with a plurality of fixture clamps, the structure and the cost of equipment are greatly simplified, the structure is simple, the maintenance is convenient, and the cost is low.
3. The jacking positioning mechanism adopts the blocking air cylinder to perform coarse positioning, and then utilizes the positioning column and the positioning plate to perform fine positioning, so that the jacking positioning mechanism has certain elasticity in the jacking positioning process, and the impact in the positioning process is reduced to the greatest extent. After positioning, the six-degree-of-freedom tooling platform can leave the assembly line, so that abrasion between the belt line and the six-degree-of-freedom tooling platform is reduced.
4. And the mode of assembling and detecting is adopted, the detection result is fed back to the control system, and the control system drives the six-freedom-degree tool platform to conduct fine adjustment. The assembling mode has higher precision, can prevent the workpieces from being damaged in the assembling process, and also improves the assembling efficiency.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a six degree of freedom tooling platform according to the present invention;
FIG. 3 is a schematic view of another directional structure of the six-degree-of-freedom tooling platform of the present invention;
FIG. 4 is a schematic view of the bottom structure of the six-degree-of-freedom tooling platform of the present invention;
FIG. 5 is a schematic view of a lifting and positioning mechanism according to the present invention;
FIG. 6 is a schematic diagram of a detection module according to the present invention;
FIG. 7 is a schematic diagram of a clutch driving mechanism according to the present invention;
fig. 8 is a schematic diagram of the inner cone driving module of the clutch driving mechanism according to the present invention.
In the figure: 101. a work table; 102. a clutch driving mechanism; 103. a detection module; 104. a pipeline; 105. a jacking positioning mechanism; 106. a six-degree-of-freedom tooling platform; 201. a large flexible telescopic coupling; 202. a support A; 203. a gamma axis rotation adjustment platform; 204. a support B; 205. a Z-axis linear adjustment platform; 206. a handle; 207. a bearing A; 208. a multi-station high-precision rapid positioning platform; 209. a Y-axis linear adjustment platform; 210. an X-axis linear adjustment platform; 211. a base; 212. beta-axis rotation adjusting platform; 213. An alpha-axis rotation adjustment platform; 214. bevel gear pair a; 215. a bearing B; 216. driven shafts; 217. a bevel gear pair B; 218. A bearing end cap; 219. a roller; 220. positioning the bushing; 301. a linear bearing; 302. an inductor; 303. a guide rod; 304. a fixing piece; 305. a positioning plate; 306. a spring; 307. a guide post; 308. jacking the cylinder; 309. wedge blocks; 310. positioning columns; 311. blocking the cylinder; 312. a cylinder bracket; 313. a slipway cylinder; 314. a screw nut; 315. a fixing plate; 316. a rigid frame; 317. a screw rod; 318. A screw rod supporting seat; 319. a transmission shaft; 320. a motor bracket; 321. a synchronous belt; 322. a servo motor A; 323. a synchronous pulley; 401. A CCD camera; 402. a laser detection head; 403. a mounting plate; 404. a servo motor B; 405. a Z-axis straight line module; 406. a Y-axis straight line module; 407. an X-axis linear module; 408. a manipulator support; 501. a fixing frame; 502. a cone-shaped driving module; 601. a pneumatic sliding table; 602. a servo motor C; 603. a high-rigidity coupling; 604. a drive shaft.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 8, a high-precision assembling device for a production line is disclosed, wherein a workbench 101 is a component connecting device and a production line work area, and a production line 104, a jacking positioning mechanism 105, a clutch driving mechanism 102 and a detection module 103 are fixed in the production line work area on the upper plane of the workbench 101 through screws; the assembly line 104 consists of two rail-type running devices which are arranged in parallel in the X-axis direction, and the assembly line 104 is an X-axis conveying device; the jacking positioning mechanism 105 is arranged at the middle position between the two production lines, and the jacking positioning mechanism 105 is matched and connected with the positioning bush 220 and the roller 219 which are fixed on the base 211 of the six-degree-of-freedom tooling platform 106 through the positioning column 310 and the wedge 309; the jacking positioning mechanism 105 is provided with a fixed plate 315, and the fixed plate 315 is fixed with four linear bearings 301; the linear bearings 301 are respectively matched and connected with four guide rods 303, and the four guide rods 303 are arranged in an annular inner sleeve of the linear bearings 301; the upper ends of the guide rods 303 are fixed in the guide rod mounting holes of the positioning plate 305, and the lower ends of the four guide rods 303 are fixed in the guide rod mounting holes arranged on the upper surface of the rigid frame 316; two positioning columns 310 are fixed on the upper surface of the positioning plate 305 in the diagonal direction, and four guide columns 307 are fixed on the lower surface of the positioning plate 305; four springs 306 are sleeved on the four guide posts 307 respectively, and the jacking cylinder 308 can move up and down along the guide posts 307; a screw nut 314 is fixed under the jacking cylinder 308, and the screw nut 314 is connected with a screw 317 in a matched manner; the screw rod 317 is supported by a screw rod supporting seat 318, and the lowest end of the screw rod 317 is fixedly connected with a transmission shaft 319 through a jackscrew; the servo motor A322 is fixed on the fixed plate 315 through a motor bracket 320, and a synchronous belt 321 and a synchronous belt pulley 323 are arranged between a motor rotating shaft and a transmission shaft 319 of the servo motor A322; the fixing piece 304 is fixed on the lifting cylinder 308, and the sensor 302 is fixed on the fixing piece 304; the blocking cylinder 311 is fixedly connected to the fixed plate 315 through a cylinder bracket 312, and the blocking cylinder 311 is a blocking coarse positioning device of the six-degree-of-freedom tooling platform 106; the cylinder body of the sliding table cylinder 313 is fixed on the fixed plate 315, and the wedge block 309 is fixed on the top end of the sliding table cylinder 313; the six-degree-of-freedom tooling platform 106 is placed on the assembly line 104, and bearings A207 arranged at four corners on a base 211 of the six-degree-of-freedom tooling platform 106 are connected with the edges of the assembly line 104 through rolling friction; the six-degree-of-freedom tooling platform 106 comprises a X, Y, Z three-axis adjusting side and an alpha, beta and gamma three-axis adjusting side, and a X, Y, Z three-axis adjusting side of the six-degree-of-freedom tooling platform 106 is formed by combining an X-axis linear adjusting platform 210, a Y-axis linear adjusting platform 209 and a Z-axis linear adjusting platform 205; the alpha, beta and gamma three-axis adjustment sides of the six-degree-of-freedom tooling platform 106 are formed by combining an alpha-axis angle adjustment platform 213, a beta-axis angle adjustment platform 212 and a gamma-axis angle adjustment platform 203, and the X, Y, Z three-axis adjustment sides and the alpha, beta and gamma three-axis adjustment sides of the six-degree-of-freedom tooling platform 106 are respectively connected with six groups of driven shafts 216; the support A202 and the support B204 are arranged on one side of the base 211, and the support A202 and the support B204 are fixed supports of six driven shafts 216 corresponding to six degrees of freedom of the six-degree-of-freedom tooling platform 106; the Y-axis linear adjustment platform 209 and the beta-axis angle adjustment platform 212 are respectively connected with two driven shafts 216 through a bevel gear pair A214 and a bevel gear pair B217, and the X-axis linear adjustment platform 210 is respectively connected with the Z-axis linear adjustment platform 205, the alpha-axis rotary adjustment platform 213 and the gamma-axis rotary adjustment platform 203 through a large flexible telescopic coupling 201; the driven shaft 216 is arranged in the inner ring of the bearing B215, and the bearing B215 is arranged in the inner hole of the support B204 through a bearing end cover 218 and a screw; x, Y, Z triaxial adjusting side and support B204 are fixed on a multi-station high-precision quick positioning platform 208, and a roller 219 is arranged at the bottom of the multi-station high-precision quick positioning platform 208; a positioning bushing 220 is arranged in the bottom of the base 211, and handles 206 are arranged at two ends of the upper part of the base 211; a conical driving module 502 is fixedly connected to a fixed frame 501 in the clutch driving mechanism 102, and the conical driving module 502 is connected with a driven shaft 216 arranged on the six-degree-of-freedom tooling platform 106 through a driving shaft 604; a pneumatic sliding table 601, a servo motor C602, a high rigidity coupler 603 and a driving shaft 604 are arranged in the conical driving module 502, and the pneumatic sliding table 601 is a pneumatic telescopic device; the pneumatic slipway 601 is connected with the servo motor C602 through a screw, and the driving shaft 604 is connected with the rotating shaft of the servo motor C602 through a high-rigidity coupling 603; the detection module 103 comprises a three-axis manipulator composed of an X-axis linear module 407, a Y-axis linear module 406 and a Z-axis linear module 405, and the three-axis manipulator is fixed on a manipulator bracket 408 through screws; the detection module 103 is connected with an external control system through an electric wire, and a Z-axis linear module 405 in the detection module 103 is fixedly connected with a CCD camera 401 and a servo motor B404 through a mounting plate 403; a laser detection head 402 is arranged below the servo motor B404, and the servo motor B404 is connected with the laser detection head 402 through a rotating shaft. Specifically, the six-degree-of-freedom tooling platform 106 is a X, Y, Z, alpha, beta, gamma six-direction degree-of-freedom adjustable device, and the six-degree-of-freedom tooling platform 106 is provided with a direction adjustment self-locking function.
Further, referring to fig. 2 to 4, the six-degree-of-freedom tooling platform 106 is used to fix the tooling fixture for assembling the precision parts. The six-degree-of-freedom tooling platform 106 is divided into a X, Y, Z three-axis adjusting side and an alpha, beta and gamma three-axis adjusting side, wherein the X, Y, Z three-axis adjusting side is formed by combining an X-axis linear adjusting platform 210, a Y-axis linear adjusting platform 209 and a Z-axis linear adjusting platform 205, and the X, Y, Z three-axis adjusting sides are assembled by adopting high-precision crossed roller guide rails and precise triangular feed screw rods in a matched manner so as to ensure the compactness and high rigidity of the mechanism and enable the executing mechanism to have a self-locking function. The alpha, beta and gamma three-axis adjusting sides are formed by combining three high-precision angle sliding tables, namely an alpha-axis angle adjusting platform 213, a beta-axis angle adjusting platform 212 and a gamma-axis angle adjusting platform 203, and a turbine worm driving mode is adopted, so that the self-locking function of the mechanism is ensured. Six adjustment platforms are respectively connected with six driven shafts 216, a Y-axis linear adjustment platform 209 and a beta-axis angle adjustment platform 212 are respectively connected with two driven shafts 216 through a bevel gear pair A214 and a bevel gear pair B217, an X-axis linear adjustment platform 210, a Z-axis linear adjustment platform 205, an alpha-axis rotation adjustment platform 213 and a gamma-axis rotation adjustment platform 203 are respectively connected with four driven shafts 216 through a large flexible telescopic coupling 201, three driven shafts 216 connected with X, Y, Z three-axis adjustment sides are respectively tightly matched with the inner rings of three bearings B215, the outer rings of the three bearings B215 are tightly matched with three holes on a support B204, three bearing end covers 218 are fixed on the support B204 through screws to prevent the bearings B215 from falling out, and the fixing mode of the three driven shafts 216 connected with the alpha, beta and gamma-axis adjustment sides is the same as the fixing mode of the three driven shafts 216 connected with X, Y, Z three-axis adjustment sides. X, Y, Z triaxial regulation side and support B204 are fixed on the quick positioning platform 208 of multi-station high accuracy, and gyro wheel 219 is installed to the quick positioning platform 208 bottom of multi-station high accuracy, and when jacking positioning mechanism 105 risees, reference column 310 cooperatees with the positioning bush 220 of fixing on base 211, lifts six degree of freedom frock platform 106 to leaving pipeline 104 certain distance, and the slip table of slip table cylinder 313 rises, and the wedge 309 of fixing on the slip table top withstands gyro wheel 219 for quick accurate positioning of quick positioning platform 208 of multi-station high accuracy in Y-axis direction realizes quick equipment. Handles 206 are mounted on two sides of the six-degree-of-freedom tooling platform 106, so that the assembly and debugging are convenient to carry. Four bearings A207 are further arranged at four corners of the six-degree-of-freedom tooling platform 106 and are in contact with edges of the assembly line 104, rolling friction is used for replacing sliding friction, and friction with the edges of the assembly line in the transportation process is reduced.
Specifically, the driving shaft 604 of the cone-shaped driving module 502 disposed in the clutch driving mechanism 102 is cone-shaped, and the driving shaft 604 is coupled to and uncoupled from the cone-shaped groove of the driven shaft 216 through the cone-shaped head portion to form a clutch driving mode.
Further, referring to fig. 7 and 8, the clutch driving mechanism 102 includes a fixing frame 501, and six groups of cone driving modules 502 are fixed on the fixing frame 501 to respectively drive six adjustment platforms on the six-degree-of-freedom tooling platform 106. The taper driving module 502 is shown in fig. 8, and comprises a pneumatic sliding table 601, a servo motor C602, a high-rigidity coupler 603 and a driving shaft 604, wherein the servo motor C602 is fixed on a sliding block of the pneumatic sliding table 601, the driving shaft 604 is connected with a rotating shaft of the servo motor C602 through the high-rigidity coupler 603, and the pneumatic sliding table 601 stretches and contracts, so that a taper head of the driving shaft 604 is combined with and separated from a taper groove of the driven shaft 216, and a clutch driving function is realized.
Specifically, the jacking positioning mechanism 105, the positioning column 310 and the positioning plate 305 are positioning devices through the blocking cylinder 311, and the jacking positioning mechanism 105 is a positionable shock absorbing buffer device through the spring 306 arranged on the guiding column 307.
Further, referring to fig. 5, the jacking positioning mechanism 105 includes a fixing plate 315, the fixing plate 315 is fixed with four linear bearings 301, the four linear bearings 301 are respectively matched with four guide rods 303, the guide rods 303 slide up and down in the linear bearings, the upper ends of the four guide rods 303 are fixed on the positioning plate 305, the lower ends of the four guide rods 303 are fixed on a rigid frame 316 to ensure the rigidity of the mechanism, two positioning columns 310 are fixed on the upper surface of the positioning plate 305 in the diagonal direction, four guide columns 307 are fixed on the lower surface of the positioning plate 305, four springs 306 are sleeved on the four guide columns 307 respectively, the jacking cylinders 308 can move up and down along the wire columns 307, a screw nut 314 is fixed under the jacking cylinders 308, the screw nut 314 is matched with a screw 317, the screw 317 is supported by a screw support 318, the bottommost end of the screw is fixedly connected with a transmission shaft 319 through a jackscrew, a servo motor a322 is fixed on the fixing plate 315 through a motor support 320, and the motor rotation shaft and the transmission 317 is driven through a synchronous belt 321 and a synchronous pulley. The fixing piece 304 is fixed on the lifting cylinder 308, and the sensor 302 is fixed on the fixing piece 304, for sensing the state of the lifting positioning mechanism 105. The blocking cylinder 311 is fixedly connected to the fixing plate 315 through a cylinder bracket 312 and is used for blocking coarse positioning of the six-degree-of-freedom tooling platform 106. The cylinder body of the sliding table cylinder 313 is fixed on the fixed plate 315, the wedge block 309 is fixed on the top end of the sliding table cylinder 313, when the jacking positioning mechanism 105 ascends, the positioning column 310 is matched with the positioning bushing 220 fixed on the base 211 to jack the six-degree-of-freedom tooling platform 106 to a certain distance away from the assembly line 104, the sliding table of the sliding table cylinder 313 ascends, the wedge block 309 fixed on the top end of the sliding table props against the roller 219, and the multi-station high-precision rapid positioning platform 208 is rapidly and accurately positioned in the Y-axis direction, so that rapid assembly is realized.
Specifically, the detection module 103 is a detection control device of the six-degree-of-freedom tooling platform 106 through an external control system.
Further, referring to fig. 6, the detecting module 103 includes a three-axis manipulator composed of an X-axis linear module 407, a Y-axis linear module 406, and a Z-axis linear module 405, and the three-axis manipulator is fixed on a manipulator support 408. A mounting plate 403 is fixed on a slide block of the Z-axis linear module 405, a CCD camera 401 and a servo motor B404 are fixed on the mounting plate 403, and a laser detection head 402 is fixedly connected with a rotating shaft of the servo motor B404. In the assembly process, the detection module 103 continuously detects the level difference and the gap of the mutually assembled workpieces, and feeds the level difference and the gap back to the system, and the system adjusts the six-degree-of-freedom tooling platform 106 until the optimal assembly condition is met.
Working principle: when the six-degree-of-freedom tooling platform 106 on the assembly line 104 is transported to a precise assembly station, the blocking cylinder 311 is lifted, the six-degree-of-freedom tooling platform 106 is blocked for coarse positioning, then the servo motor A322 of the lifting positioning mechanism 105 rotates, the positioning column 310 is lifted into the positioning bushing 220 through belt and screw transmission, meanwhile, the positioning plate 305 lifts the six-degree-of-freedom tooling platform 106 to a certain distance away from the assembly line 104, at this moment, the lifting positioning mechanism 105 accurately positions the six-degree-of-freedom tooling platform 106, after the accurate positioning is finished, the detection module 103 detects gaps and step differences of mutually assembled workpieces fixed on the six-degree-of-freedom tooling platform 106, the detection result is fed back to the control system, the control system selects the degree of freedom required adjustment according to the detection result, the corresponding conical driving module 502 on the clutch driving mechanism 102 is lifted into the driven shaft 216 for driving adjustment, the conical driving module 502 is lifted back after the adjustment, the driving shaft 216 is separated, then the sliding table cylinder 313 is lifted, and the wedge block 309 fixed at the top end is lifted up 219, so that the multi-degree-of-freedom tooling platform is rapidly positioned in the Y-axis direction, and the rapid positioning is rapidly realized. After the assembly is completed, the detection module 103 detects gaps and step differences of the assembled workpieces again, the detection result is fed back to the control system, the control system selects the degree of freedom to be adjusted according to the detection result, the corresponding cone-shaped driving module 502 on the clutch driving mechanism 102 is jacked into the driven shaft 216 to carry out driving adjustment, the cone-shaped driving module 502 retreats after the adjustment is completed and leaves the driven shaft 216, and the precise assembly task is completed.
A high accuracy assembly device for assembly line can carry out X, Y, Z, alpha, beta, six orientation regulation through six degree of freedom frock platforms, possess six degrees of freedom in the space promptly to have the auto-lock function, except can apply to the assembly pairing of accurate part, can also be applied to aspects such as point gum solidification, product test. The six-degree-of-freedom tooling platform has short intersecting period, can meet the working requirements of high-precision assembly of an automatic assembly line, has relatively low price, is provided with four bearings A at four corners, is contacted with two side edges of the assembly line, replaces sliding friction with rolling friction, can prevent position deviation during conveying on the assembly line, and can reduce abrasion in the conveying process. Through cone clutch actuating mechanism, on the automatic conveying line of multistation, can make a driving source pair a plurality of frock clamps, simplified the structure and the cost of equipment greatly, and simple structure, it is convenient to maintain, the cost is lower. The jacking positioning mechanism adopts the blocking air cylinder to perform coarse positioning, the positioning column and the positioning plate are utilized to perform accurate positioning, and the jacking positioning mechanism has certain elasticity in the jacking positioning process, so that the impact in the positioning process is reduced to the greatest extent. After positioning, the six-degree-of-freedom tooling platform can leave the assembly line, so that abrasion between the belt line and the six-degree-of-freedom tooling platform is reduced. By adopting the mode of assembling and detecting, the detection result is fed back to the control system, and the control system drives the six-degree-of-freedom tooling platform to conduct fine adjustment. The assembling mode has higher precision, can prevent the workpiece from being damaged in the assembling process, and also improves the assembling efficiency.
Therefore, the high-precision assembly device for the assembly line can precisely assemble precise parts, has the advantages of high precision, small abrasion, stable operation, simple structure, convenience in maintenance and lower cost, and effectively solves the problems and the defects in the background technology.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A high accuracy assembly device for assembly line, its characterized in that: the device comprises a workbench, a clutch driving mechanism, a detection module, a production line, a jacking positioning mechanism and a six-degree-of-freedom tooling platform; the working table is a component connecting device and an assembly line work area, and the assembly line, the jacking positioning mechanism, the clutch driving mechanism and the detection module are fixed in the assembly line work area on the upper plane of the working table through screws; the assembly line consists of two rail-type running devices which are arranged in parallel in the X axial direction, and the assembly line is an X axial conveying device; the jacking positioning mechanism is arranged at the middle position between the two production lines and is connected with a positioning bushing and a roller fixed on the six-degree-of-freedom tooling platform base in a matched manner through a positioning column and a wedge block; the jacking positioning mechanism is provided with a fixed plate, and the fixed plate is fixed with four linear bearings; the linear bearing is respectively connected with the four guide rods in a matching way, and the four guide rods are arranged in the annular inner sleeve of the linear bearing; the upper ends of the guide rods are fixed in the mounting holes of the guide rods of the positioning plate, and the lower ends of the four guide rods are fixed in the guide rod mounting holes arranged on the upper surface of the rigid frame; two positioning columns are fixed on the upper surface of the positioning plate in the diagonal direction, and four guide columns are fixed on the lower surface of the positioning plate; four springs are sleeved on the four guide posts respectively, and the jacking cylinder can move up and down along the guide posts; a screw nut is fixed under the jacking cylinder and is connected with the screw in a matched manner; the screw rod is supported by the screw rod supporting seat, and the bottommost end of the screw rod is fixedly connected with the transmission shaft through a jackscrew; the servo motor A is fixed on the fixed plate through a motor bracket, and a synchronous belt wheel are arranged between a motor rotating shaft and a transmission shaft of the servo motor A; the fixing piece is fixed on the jacking cylinder, and the inductor is fixed on the fixing piece; the blocking cylinder is fixedly connected to the fixed plate through a cylinder bracket and is a blocking coarse positioning device of the six-degree-of-freedom tooling platform; the cylinder body of the sliding table cylinder is fixed on the fixed plate, and a wedge block is fixed at the top end of the sliding table cylinder; the six-degree-of-freedom tooling platform is arranged on the assembly line, and the bearings A arranged at four corners on the base of the six-degree-of-freedom tooling platform are connected with the edges of the assembly line through rolling friction;
the six-degree-of-freedom tooling platform comprises a X, Y, Z three-axis adjusting side and an alpha, beta and gamma three-axis adjusting side, and the X, Y, Z three-axis adjusting side of the six-degree-of-freedom tooling platform is formed by combining an X-axis linear adjusting platform, a Y-axis linear adjusting platform and a Z-axis linear adjusting platform; the alpha, beta and gamma three-axis adjusting sides of the six-degree-of-freedom tooling platform are formed by combining an alpha-axis rotating adjusting platform, a beta-axis rotating adjusting platform and a gamma-axis rotating adjusting platform, and the X, Y, Z three-axis adjusting sides of the six-degree-of-freedom tooling platform are respectively connected with six groups of driven shafts; the support A and the support B are arranged on one side of the base, and the support A and the support B are fixed supports of six driven shafts corresponding to six degrees of freedom of the six-degree-of-freedom tool platform; the Y-axis linear adjusting platform and the beta-axis rotary adjusting platform are respectively connected with two driven shafts through a bevel gear pair A and a bevel gear pair B, and the X-axis linear adjusting platform is respectively connected with the Z-axis linear adjusting platform, the alpha-axis rotary adjusting platform and the gamma-axis rotary adjusting platform through a large flexible telescopic coupling; the driven shaft is arranged in the inner ring of the bearing B, and the bearing B is arranged in the inner hole of the support B through a bearing end cover and a screw; x, Y, Z triaxial adjusting side and support B are fixed on a multi-station high-precision quick positioning platform, and rollers are arranged at the bottom of the multi-station high-precision quick positioning platform; a positioning bushing is arranged in the bottom of the base, and handles are arranged at two ends of the upper part of the base;
a conical driving module is fixedly connected to a fixed frame in the clutch driving mechanism, and the conical driving module is connected with a driven shaft arranged on the six-degree-of-freedom tooling platform through a driving shaft; the conical driving module is internally provided with a pneumatic sliding table, a servo motor C, a high-rigidity coupling and a driving shaft, and the pneumatic sliding table is a pneumatic telescopic device; the pneumatic sliding table is connected with the servo motor C through a screw, and the driving shaft is connected with the rotating shaft of the servo motor C through a high-rigidity coupling; the detection module comprises a triaxial manipulator consisting of an X-axis linear module, a Y-axis linear module and a Z-axis linear module, and the triaxial manipulator is fixed on a manipulator bracket through screws; the detection module is connected with an external control system through an electric wire, and a Z-axis linear module in the detection module is fixedly connected with a CCD camera and a servo motor B through a mounting plate; a laser detection head is arranged below the servo motor B, and the servo motor B is connected with the laser detection head through a rotating shaft.
2. A high precision assembly device for a pipeline as claimed in claim 1, wherein: the six-degree-of-freedom tool platform is a X, Y, Z, alpha, beta and gamma six-direction degree-of-freedom adjustable device, and is provided with a direction adjustment self-locking function.
3. A high precision assembly device for a pipeline as claimed in claim 1, wherein: the driving shaft of the cone-shaped driving module arranged in the clutch driving mechanism is cone-shaped, and the driving shaft is mutually combined with and separated from the cone-shaped groove of the driven shaft through the cone-shaped head part to form a clutch driving mode.
4. A high precision assembly device for a pipeline as claimed in claim 1, wherein: the jacking positioning mechanism is a positioning device through a blocking cylinder, a positioning column and a positioning plate, and the jacking positioning mechanism is a damping and buffering device capable of being positioned through a spring arranged on the guide column.
5. A high precision assembly device for a pipeline as claimed in claim 1, wherein: the detection module is a detection regulation device of the six-degree-of-freedom tooling platform through an external control system.
6. A high precision assembly device for a pipeline as claimed in claim 1, wherein: the working method of the high-precision assembly device for the assembly line comprises the following steps:
when the six-degree-of-freedom tooling platform on the assembly line is transported to a precise assembly station, a blocking cylinder is lifted, the six-degree-of-freedom tooling platform is blocked for coarse positioning, then a servo motor A of a lifting positioning mechanism rotates, a positioning column is lifted into a positioning bushing through transmission of a belt and a screw rod, meanwhile, the six-degree-of-freedom tooling platform is lifted to a certain distance away from the assembly line by a positioning plate, at the moment, the lifting positioning mechanism accurately positions the six-degree-of-freedom tooling platform, after the accurate positioning is finished, a detection module carries out gap and step difference detection on workpieces which are mutually assembled and fixed on the six-degree-of-freedom tooling platform, the detection result is fed back to a control system, the control system selects the degree of freedom to be adjusted according to the detection result, a corresponding cone-shaped driving module on a clutch driving mechanism is lifted into a driven shaft for driving adjustment, the cone-shaped driving module is lifted away from the driven shaft after the adjustment, and then the sliding table cylinder is lifted, and a wedge block fixed at the top end of the sliding table is lifted, so that the multi-station high-precision quick positioning platform can be quickly and accurately positioned in the Y-axis direction, and quick assembly is realized; and after the assembly is completed, the detection module detects gaps and section differences of the assembled workpieces again, the detection result is fed back to the control system, the control system selects the degree of freedom to be adjusted according to the detection result, the corresponding cone-shaped driving module on the clutch driving mechanism is jacked into the driven shaft to carry out driving adjustment, the cone-shaped driving module retreats after the adjustment is completed, and the driven shaft is separated from the clutch driving mechanism, so that the precision assembly task is completed.
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| WO2019173953A1 (en) * | 2018-03-12 | 2019-09-19 | 深圳配天智能技术研究院有限公司 | Tray positioning device |
| CN109592383B (en) * | 2018-12-05 | 2020-10-30 | 珠海格力智能装备有限公司 | Positioning and conveying device |
| CN111451744B (en) * | 2020-05-19 | 2024-05-24 | 马鞍山职业技术学院 | Three-level inverter driving chip adjusting assembly |
| CN113510509B (en) * | 2021-08-27 | 2022-09-06 | 安庆振宜机动车零部件再制造有限公司 | Adjusting device for automobile part machining center |
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| JPH05267900A (en) * | 1992-03-19 | 1993-10-15 | Toshiba Corp | Component position recognition apparatus |
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